EP2926091B1 - Improvements in motor controllers - Google Patents

Improvements in motor controllers Download PDF

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Publication number
EP2926091B1
EP2926091B1 EP13812023.3A EP13812023A EP2926091B1 EP 2926091 B1 EP2926091 B1 EP 2926091B1 EP 13812023 A EP13812023 A EP 13812023A EP 2926091 B1 EP2926091 B1 EP 2926091B1
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EP
European Patent Office
Prior art keywords
motor
signal
output
sensor
output signal
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Application number
EP13812023.3A
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German (de)
English (en)
French (fr)
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EP2926091A2 (en
Inventor
Christopher David Dixon
Robert James Huxford
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TRW Ltd
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TRW Ltd
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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
    • H02P6/14—Electronic commutators
    • H02P6/16—Circuit arrangements for detecting position
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
    • G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
    • G01D5/12—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means
    • G01D5/244—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing characteristics of pulses or pulse trains; generating pulses or pulse trains
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
    • G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
    • G01D5/12—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means
    • G01D5/244—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing characteristics of pulses or pulse trains; generating pulses or pulse trains
    • G01D5/24471—Error correction
    • G01D5/24476—Signal processing
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/50—Vector control arrangements or methods not otherwise provided for in H02P21/00- H02P21/36

Definitions

  • This invention relates to method of estimating the position of a rotor in a motor, and to motor control apparatus.
  • a torque sensor 10 measures the torque applied to a steering shaft 20 by a driver turning the steering wheel 30. This torque measurement is passed to a motor control and drive circuit 40 which produces an assistance demand signal equal to the amount of assistance torque to be applied to the steering system.
  • the demand signal is used to generate currents that are applied to the phases of an electric motor 50 attached to the steering shaft 20, or some other part of the steering system, through a gearbox (not shown).
  • the motor applies the demanded torque to the steering system, making it easier for the driver to turn the wheel.
  • the driver is in physical contact with the steering wheel 30 and so feels the effect of the torque applied to the steering shaft by the motor.
  • the driver will be able to feel any unexpected changes in torque output from the motor as the wheel is turned. This is especially the case at low speeds of rotation of the steering wheel. If the torque output from the motor varies suddenly with the angular position of the motor rotor this might be felt by the driver.
  • Figures 3a and 4a show the variation in torque with motor position that arise when a constant torque is demanded but an error in the position measurement is used in the motor control.
  • the dark lines correspond to a resolution between steps of 10 degrees and the lighter lines correspond to a resolution between steps of 7.5 degrees.
  • Figures 3b and 4b showing the actual variation in underlying errors in position against actual position that arise when the position signal is accurate only at the midpoint between steps or accurate only alongside a step respectively.
  • WO 2011/125360 A1 discloses signal processor including an AD conversion unit that changes a periodic analog signal output from a detector in accordance with a position of a motor to a digital signal at a predetermined conversion period, a tracking unit that calculates a position of the motor at an arithmetic period on the basis of the digital signal that is converted and output at the conversion period by the conversion unit, an operation state identifier that identifies an operation state of the motor on the basis of the position P of the motor calculated by the tracking unit, and an arithmetic period determiner (213), (216) that changes the arithmetic period Tc of the tracking unit in accordance with the operation state of the motor identified by the operation state identifier such that the position P of the motor calculated by the tracking unit follows the actual position Q of the motor.
  • US 6 081 087 A discloses a motor controller configured such that time interval measuring means measures the time interval of a rotational position signal indicating the rotational position of a rotor based on said rotational position signal, correction coefficient storage means stores the correction coefficient indicating the inaccuracy of said rotational position signal, estimated rotational angle production means produces an estimated rotational angle providing an estimated value of the rotational angle by extrapolating the rotational angle based on said time interval and said correction coefficient, and command production means produces a current command or a voltage command based on said estimated rotational angle and outputs it to driving means for driving a motor.
  • An object of the present invention is to ameliorate some of the problems that arise due to inaccurate position signals that contain sudden stepped changes in value.
  • the invention provides a method of estimating the position of a rotor of an electric motor comprising:
  • the rapid changes in the signal will be smoothed out. This removes the step changes which is especially advantageous if the position signal is used as part of a motor control strategy.
  • the estimated signal will lag behind until it is has been able to ramp up to the level of the top of the step change.
  • the method may comprise the step of smoothing the output signal from the sensor by passing the output signal through a low pass filter.
  • the method may comprise smoothing the output signal by applying a fixed slew rate to the output signal following a change in the output of the detector.
  • the fixed slew rate limits the rate at which the output can catch up to the actual position signal to a fixed (perhaps linear) rate of change.
  • the slew rate may be fixed, by which we mean a fixed rate of change is allowed, or may be varied, by which we mean the rate of change that is allowed may vary. It may be varied as a function of the elapsed time between step changes in the output signal.
  • the method may therefore comprise measuring the elapsed time between step changes, and setting the slew rate as a function of the elapsed time.
  • the elapsed time may comprise the time between the most recent step change and the preceding step change.
  • the method preferably comprises optimising the filter constant or the slew rate to ensure that, during constant speed of the motor, the estimated position signal has caught up with the actual position signal at the instant that the next step change in position signal occurs.
  • the method may further comprises, when an estimate of the velocity is available as the rotor velocity is above a predetermined threshold, generating an alternative estimate of position based upon interpolation of the output signal from the position sensor.
  • the method may comprise switching between one strategy which uses filtering/slew rate at low speeds and another based on extrapolation at higher speeds.
  • the invention provides a motor control apparatus comprising a signal processing means arranged to receive an output signal from a motor position sensor, a current control circuit which receives as an input a motor torque demand signal and produces as an output d-q axis motor current demand signals and converts the d-q-axis demand currents into individual motor phase currents by combining the d-q-axis demand currents with an estimate of motor position,
  • the signal processing means includes a smoothing algorithm, and processes the output signal from the motor position sensor by passing it through the smoothing algorithm to produce the estimate of motor position, the algorithm being arranged to smooth the transition between the steps in the output of the sensor by causing the estimated position signal to lag behind the output of the sensor following a step change in the output of the sensor.
  • the smoothing algorithm of the signal processing means may include a comprising a low pass filter. This may be a first order filter.
  • the algorithm may comprise a slew rate function that applies a fixed slew rate to the signal whenever the actual rate of change of the signal has exceeded a threshold.
  • the position sensor may produce an output signal that varies stepwise with angular position, the filter or slew rate filter causing the estimate of position to lag behind the output signal following a step change.
  • the encoder of the position sensor may be fixed relative to the rotor of the motor. It may be fixed to a component that is connected to the motor rotor through a gearbox. In either case, as the motor rotor turns the encoder will turn. It may comprise a rotary encoder. It may produce stepped values as an output signal which do not repeat within an electrical rotation of the motor. The stepped changes may occur at equal intervals across a full 360 degree electrical rotation of the motor. Where it is connected through a gearbox, the output signal may repeat after more than one electrical rotation of the motor, or may repeat several times within one electrical rotation.
  • the invention provides a system comprising a motor, a position sensor and a motor control apparatus of the preceding aspect.
  • the motor may comprise a part of an electric power assisted steering system.
  • a typical closed loop motor control system 100 for a three phase motor typically has a structure as shown in Figure 1 .
  • the motor 110 may be considered to have three phases, U,V and W, and may be connected in a star or delta configuration.
  • Each phase is connected to an arm of a bridge drive circuit represented in Figure 1 by the block labelled "PWM" .
  • Each arm comprises a top switch connecting the phase to a positive supply voltage and a bottom switch connecting the phase to a negative supply voltage or ground.
  • the six switches are turned on and off apply pulse width modulated voltages to each phase in a known manner.
  • PWM strategies can be used, and for the purposes of this invention the choice of strategy is not in any way limiting.
  • the PWM signals for the motor phases are derived using a closed loop control, with the inputs to the control being the demanded torque T* from the motor, the measured angular velocity w of the motor rotor, the rotor position ⁇ and the current in each phase measured by a current sensor or otherwise estimated.
  • the demanded torque is used to determine d axis and q axis motor currents Id and Iq in block 130 and from these the individual phase currents are calculated in block 140.
  • the position sensor for the purpose of the following examples comprises an encoder disk secured to the motor rotor and a set of detectors.
  • the encoder disk carries a set of encoder regions that are arranged as a circumferential track comprising a predetermined pattern of encoding regions.
  • the encoding regions may comprise magnets and spaces between magnets, or a sequence of reflective and non-reflective portions.
  • the encoder may be formed by the rotor magnets where a motor of that kind is provided. As the disk rotates the track moves relative to the detectors, which each "see" the variation in the track from different points along the track. The variation in the output of the detectors as edges of the encoding regions pass the detectors provides the sensor resolution.
  • the resolution is therefore a function of the spacing between encoding regions and the relative positions of the detectors.
  • the measurement of the velocity of the rotor in each embodiment is used to extrapolate between the edges in the output signal from the position sensor.
  • the resolution of the position signal is reduced to that of the raw stepped output signal resolution, ⁇ enc.
  • an alternative, novel, method of estimating position at low speeds that does not rely on interpolation is suggested.
  • a first order filter is used to smooth out the step changes in the output signal from the position sensor.
  • the raw "stepped" output signal of the position sensor is fed into the filter, the output of which produces a response as shown in Figure 5 .
  • the filtered signal is overlaid on the raw output signal.
  • This filtered position signal is then used as the estimate of position by the control loop for the motor. Becuase the signal is smoothed, the sudden changes in error value between the estimated and actual positions are smoothed, which in turn smoothes out the step changes in torque that would be produced without any smoothing.
  • the time constant may be varied as a function of the time elapsed between the detection of two encoder edges (effectively motor speed but too slow to produce reliable velocity signal) so that the filtering adapts as the motor changes speed.
  • a fixed slew rate is used instead of a filter.
  • the raw "stepped" position signal is fed to an input of a function that causes the signal value to change (increase or decrease) in a linear fashion at a fixed rate of change until the slewed value catches up with the raw input value. This produces the results shown in Figure 3 5 .
  • the output in this embodiment may be produced by taking the encoder position value before a step change occurred and adding to this an incremental value which represents the slew part, the increment value increasing linearly over time until the increment has reached the magnitude of the step change. At this point, the output may be set to equal the value of the "raw" stepped signal after the step change.
  • the slew rate must be carefully chosen to act at the correct speed. Again the slew rate could be scheduled with time between encoder edges.
  • a variable slew rate is used instead of a filter or fixed slew rate. This can be seen in Figure 3 6 .
  • the slew rate is set using timing information from the last two encoder edges so that the output will complete the step change over this period.
  • the timing information is used by the algorithm to increase the slew rate when the time elapsed is short (high motor speed) and increase the rate when it is long (low motor speed).

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Power Engineering (AREA)
  • Signal Processing (AREA)
  • Control Of Motors That Do Not Use Commutators (AREA)
  • Control Of Electric Motors In General (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)
EP13812023.3A 2012-11-30 2013-11-27 Improvements in motor controllers Active EP2926091B1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
GB201221634 2012-11-30
PCT/GB2013/053141 WO2014083338A2 (en) 2012-11-30 2013-11-27 Improvements in motor controllers

Publications (2)

Publication Number Publication Date
EP2926091A2 EP2926091A2 (en) 2015-10-07
EP2926091B1 true EP2926091B1 (en) 2019-09-11

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EP13812023.3A Active EP2926091B1 (en) 2012-11-30 2013-11-27 Improvements in motor controllers

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US (1) US9455656B2 (zh)
EP (1) EP2926091B1 (zh)
KR (1) KR102077362B1 (zh)
CN (1) CN105190249B (zh)
WO (1) WO2014083338A2 (zh)

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP6695247B2 (ja) * 2016-09-23 2020-05-20 株式会社ミツバ モータ制御装置及びモータ制御装置の制御方法
US11844432B2 (en) 2020-03-27 2023-12-19 La-Z-Boy Incorporated Furniture motion control system

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Also Published As

Publication number Publication date
US9455656B2 (en) 2016-09-27
WO2014083338A2 (en) 2014-06-05
EP2926091A2 (en) 2015-10-07
KR102077362B1 (ko) 2020-04-07
KR20150103662A (ko) 2015-09-11
US20150340979A1 (en) 2015-11-26
WO2014083338A3 (en) 2015-05-14
CN105190249A (zh) 2015-12-23
CN105190249B (zh) 2017-12-15

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